1)先用命令安装工具: sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential
如果以上命令安装慢,可以使用国内的镜像安装源:参考这里:http://wiki.ros.org/ROS/Installation/UbuntuMirrors
2)先执行命令初始化rosdep
sudo rosdep init
rosdep update
3)创建catkin工作目录
mkdir ~/ros_catkin_ws
cd ~/ros_catkin_ws
4)获取ros源码包:
rosinstall_generator desktop_full --rosdistro melodic --deps --tar > melodic-desktop-full.rosinstall
wstool init -j8 src melodic-desktop-full.rosinstall
5)安装ros依赖库:
rosdep install --from-paths src --ignore-src --rosdistro melodic -y
6)若提示protobuf相关的错误,则手工选择安装protobuf:
protobuf需要3.0版本或以上(不能超过3.5)
7)编译ROS源码:
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
8)使安装环境生效:
source ~/ros_catkin_ws/install_isolated/setup.bash
9)最后添加Universal Robot包并模拟:
Universal Robot添加和编译
把universal_robot-kinetic-devel.zip文件复制到src目录下,并改名:universal_robot
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --pkg universal_robot
运行模拟命令:
roslaunch ur_gazebo ur10.launch